ID : 7530

MC_WriteAxesGroup

To send the content of a robot variable to a robot controller. It also changes the external speed of the robot controller.

Graphic expression	FB category
	Unique

Input and Output Variable

Variable name	Data type	Valid range	Default	Omission (*)
AxesGroup	eRC_AxesGroup			No
AxesGroup	Robot Group Specify a robot variable (structured type data : eRC_AxesGroup) of user-defined type.

Input Variable

Variable name	Data type	Valid range	Default	Omission (*)
OutAddress	ARRAY [0..255] OF BYTE			No
OutAddress	Field network output variable Specify an output tag that has been generated in the field network communication setting.
Override	Integer	1 to 100	1.0	Yes
Override	External speed Specify the external speed. The unit is "%".

(*) : For some parameters, entries can be omitted.

Yes : Entry can be omitted.
No : Entry required always.

Output Variable

Variable name	Data type / Description
Error	Boolean
Error	Error presence TRUE : This FB ended abnormally. FALSE : This FB ended successfully.
ErrorID	Word
ErrorID	Error location 2800 (hexadecimal) : The error occurred in the PLC program. 2801 (hexadecimal) : The error occurred in the robot controller.
ErrorIDEx	DWord
ErrorIDEx	Error Code This is a number to identify the error description. For details, refer to "Error code list".

Function Description

To send the content of a robot variable (structured type data: eRC_AxisGroup) to a robot controller.

In actual operation, "Cmd" variable which is in the robot variable (structured type data: eRC_AxisGroup) is sent to a robot controller.

For OutAddress, specify an output tag that has been generated in the field network communication setting.

The method of field network communication configuration differs depending on PLCs. Please refer to the user’s manual of your PLC.

Attention

The value of the variable "Cmd" (*1) updated in other FB of Command-Slave is transmitted to the robot controller by this FB. Unless the value of the variable "Cmd" is transmitted to the robot controller, the robot cannot be controlled.
Therefore, be sure to place this FB in the end of the program.

*1 : "Cmd" variable is a variable that is stored in the robot variable (structured type data: eRC_AxisGroup).

ID : 7530

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